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support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree.

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Remove constructor from b3Vector3,  to make it a POD type, so it can go into a union (and more compatible with OpenCL float4)
Use b3MakeVector3 instead of constructor
Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
Improve PairBench a bit, show timings and #overlapping pairs.
Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
This commit is contained in:
erwincoumans
2013-08-20 03:19:59 -07:00
parent 41ba48b10d
commit 677722bba3
62 changed files with 1827 additions and 564 deletions
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8
src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
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@@ -68,7 +68,7 @@ void b3VoronoiSimplexSolver::reset()
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = b3Vector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
m_lastW = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
m_cachedBC.reset();
}
@@ -118,7 +118,7 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
const b3Vector3& to = m_simplexVectorW[1];
b3Vector3 nearest;
b3Vector3 p (b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 diff = p - from;
b3Vector3 v = to - from;
b3Scalar t = v.dot(diff);
@@ -157,7 +157,7 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
case 3:
{
//closest point origin from triangle
b3Vector3 p (b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
const b3Vector3& a = m_simplexVectorW[0];
const b3Vector3& b = m_simplexVectorW[1];
@@ -183,7 +183,7 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
{
b3Vector3 p (b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
const b3Vector3& a = m_simplexVectorW[0];
const b3Vector3& b = m_simplexVectorW[1];